def install_rosdeps(base_path, source_path, rosdistro, no_color):
# -r continue even with errors
cmd = ['rosdep', 'install'
] # if you want it to continue installing despite errors, '-r']
underlays = config_cache.get_underlays_list_from_config_cmake(base_path)
print("Rosdep Search Paths")
for underlay in underlays:
underlay_path = underlay
underlay_source_path = os.path.abspath(
os.path.join(underlay, os.pardir, "src"))
if os.path.isdir(underlay_source_path):
underlay_path = underlay_source_path
if os.path.isdir(underlay_path):
cmd += ['--from-paths', underlay_path]
print(" - adding underlay '%s'" % underlay_path)
else:
print(" - not adding underlay '%s' [not found]" % underlay_path)
cmd += [
'--from-paths', source_path, '--ignore-src', '--rosdistro', rosdistro,
'-y'
]
env = os.environ.copy()
try:
builder.print_command_banner(cmd, source_path, color=not no_color)
if no_color:
builder.run_command(cmd, source_path, env=env)
else:
builder.run_command_colorized(cmd, source_path, env=env)
except subprocess.CalledProcessError:
return 1 # rosdep will already have provided its own error message, no need to regurgitate
return 0
def install_rosdeps(base_path, source_path, rosdistro, no_color):
# -r continue even with errors
cmd = ['rosdep', 'install'] # if you want it to continue installing despite errors, '-r']
underlays = config_cache.get_underlays_list_from_config_cmake(base_path)
print("Rosdep Search Paths")
for underlay in underlays:
underlay_path = underlay
underlay_source_path = os.path.abspath(os.path.join(underlay, os.pardir, "src"))
if os.path.isdir(underlay_source_path):
underlay_path = underlay_source_path
if os.path.isdir(underlay_path):
cmd += ['--from-paths', underlay_path]
print(" - adding underlay '%s'" % underlay_path)
else:
print(" - not adding underlay '%s' [not found]" % underlay_path)
cmd += ['--from-paths', source_path, '--ignore-src', '--rosdistro', rosdistro, '-y']
env = os.environ.copy()
try:
builder.print_command_banner(cmd, source_path, color=not no_color)
if no_color:
builder.run_command(cmd, source_path, env=env)
else:
builder.run_command_colorized(cmd, source_path, env=env)
except subprocess.CalledProcessError:
return 1 # rosdep will already have provided its own error message, no need to regurgitate
return 0
def install_rosdeps(base_path, source_path, rosdistro, no_color):
# -r continue even with errors
cmd = ['rosdep', 'install', '-r']
underlays = config_cache.get_underlays_list_from_config_cmake(base_path)
for underlay in underlays:
cmd += ['--from-paths', underlay]
cmd += ['--from-paths', source_path, '--ignore-src', '--rosdistro', rosdistro, '-y']
env = os.environ.copy()
try:
builder.print_command_banner(cmd, source_path, color=not no_color)
if no_color:
builder.run_command(cmd, source_path, env=env)
else:
builder.run_command_colorized(cmd, source_path, env=env)
except subprocess.CalledProcessError:
return fmt('@{rf}Invoking @{boldon}"rosdep install failed')
def make_main():
args = _parse_args()
cmake_args = args.cmake_args
# disable colors if asked
if args.no_color:
terminal_color.disable_ANSI_colors()
# Default paths
base_path = os.path.abspath('.')
build_path = os.path.join(base_path, 'build')
devel_path = os.path.join(base_path, 'devel')
source_path = os.path.join(base_path, 'src')
validate_build_space(base_path) # raises a RuntimeError if there is a problem
# Clear out previous temporaries if requested
if args.pre_clean:
console.pretty_print("Pre-cleaning before building.", console.cyan)
shutil.rmtree(devel_path, ignore_errors=True)
shutil.rmtree(build_path, ignore_errors=True)
# check for new build
if not os.path.exists(build_path):
os.mkdir(build_path)
#if not os.path.exists(devel_path):
# os.mkdir(devel_path)
# ensure toplevel cmake file exists
toplevel_cmake = os.path.join(source_path, 'CMakeLists.txt')
if not os.path.exists(toplevel_cmake):
return fmt('@{rf}No toplevel cmake file@')
packages = find_packages(source_path, exclude_subspaces=True)
# verify that specified package exists in workspace
if args.pkg:
packages_by_name = {p.name: path for path, p in packages.iteritems()}
if args.pkg not in packages_by_name:
raise RuntimeError('Package %s not found in the workspace' % args.pkg)
# check if cmake must be run (either for a changed list of package paths or changed cmake arguments)
force_cmake, _ = builder.cmake_input_changed(packages, build_path, cmake_args=cmake_args)
# check if toolchain.cmake, config.cmake exist
toolchain_cmd = "-DCMAKE_TOOLCHAIN_FILE=%s" % os.path.join(base_path, 'toolchain.cmake') if os.path.isfile(os.path.join(base_path, 'toolchain.cmake')) else None
config_cmd = "-C%s" % os.path.join(base_path, 'config.cmake') if os.path.isfile(os.path.join(base_path, 'config.cmake')) else None
# Help find catkin cmake and python
unused_catkin_toplevel, catkin_python_path, unused_catkin_cmake_path = common.find_catkin()
env = os.environ.copy()
try:
env['PYTHONPATH'] = env['PYTHONPATH'] + os.pathsep + catkin_python_path
except KeyError:
env['PYTHONPATH'] = catkin_python_path
# consider calling cmake
makefile = os.path.join(build_path, 'Makefile')
if not os.path.exists(makefile) or args.force_cmake or force_cmake:
cmd = ['cmake', source_path]
if toolchain_cmd:
cmd.append(toolchain_cmd)
if config_cmd:
cmd.append(config_cmd)
cmd += cmake_args
try:
builder.print_command_banner(cmd, build_path, color=not args.no_color)
if args.no_color:
builder.run_command(cmd, build_path, env=env)
else:
builder.run_command_colorized(cmd, build_path, env=env)
except subprocess.CalledProcessError:
return fmt('@{rf}Invoking @{boldon}"cmake"@{boldoff} failed')
else:
cmd = ['make', 'cmake_check_build_system']
try:
builder.print_command_banner(cmd, build_path, color=not args.no_color)
if args.no_color:
builder.run_command(cmd, build_path, env=env)
else:
builder.run_command_colorized(cmd, build_path, env=env)
except subprocess.CalledProcessError:
return fmt('@{rf}Invoking @{boldon}"make cmake_check_build_system"@{boldoff} failed')
# invoke make
if args.install:
cmd = ['make', 'install']
elif args.tests:
cmd = ['make', 'tests']
elif args.run_tests:
cmd = ['make', 'run_tests']
else:
cmd = ['make']
jobs = args.jobs
if args.jobs == '':
cmd.append('-j')
else:
jobs = args.jobs
if not jobs:
if 'ROS_PARALLEL_JOBS' in os.environ:
ros_parallel_jobs = os.environ['ROS_PARALLEL_JOBS']
cmd += [arg for arg in ros_parallel_jobs.split(' ') if arg]
else:
jobs = multiprocessing.cpu_count()
if jobs:
cmd.append('-j%d' % jobs)
cmd.append('-l%d' % jobs)
cmd += args.make_args
try:
make_path = build_path
if args.pkg:
make_path = os.path.join(make_path, packages_by_name[args.pkg])
builder.print_command_banner(cmd, make_path, color=not args.no_color)
builder.run_command(cmd, make_path, env=env)
except subprocess.CalledProcessError:
return fmt('@{rf}Invoking @{boldon}"make"@{boldoff} failed')
def make_main():
args = _parse_args()
cmake_args = args.cmake_args
if args.no_color:
terminal_color.disable_ANSI_colors()
(base_path, build_path, devel_path, source_path) = common.get_default_paths()
doc_path = config_cache.get_doc_prefix_from_config_cmake(base_path)
validate_build_space(base_path) # raises a RuntimeError if there is a problem
# Install rosdeps if requested
if args.install_rosdeps:
install_rosdeps(base_path, source_path, settings.get_default_track(), args.no_color)
return
if args.install_rosdeps_track is not None:
install_rosdeps(source_path, args.install_rosdeps_track, args.no_color)
return
# Clear out previous temporaries if requested
if args.pre_clean:
console.pretty_print("Pre-cleaning before building.", console.cyan)
shutil.rmtree(devel_path, ignore_errors=True)
shutil.rmtree(build_path, ignore_errors=True)
shutil.rmtree(doc_path, ignore_errors=True)
# check for new build
if not os.path.exists(build_path):
os.mkdir(build_path)
#if not os.path.exists(devel_path):
# os.mkdir(devel_path)
# ensure toplevel cmake file exists
toplevel_cmake = os.path.join(source_path, 'CMakeLists.txt')
if not os.path.exists(toplevel_cmake):
return fmt('@{rf}No toplevel cmake file@')
# did source paths get added to the original location?
check_and_update_source_repo_paths(source_path)
packages = find_packages(source_path, exclude_subspaces=True)
# verify that specified package exists in workspace
if args.pkg:
packages_by_name = {p.name: path for path, p in packages.iteritems()}
if args.pkg not in packages_by_name:
raise RuntimeError('Package %s not found in the workspace' % args.pkg)
# check if cmake must be run (either for a changed list of package paths or changed cmake arguments)
force_cmake, _ = builder.cmake_input_changed(packages, build_path, cmake_args=cmake_args)
# check if toolchain.cmake, config.cmake exist
toolchain_cmd = "-DCMAKE_TOOLCHAIN_FILE=%s" % os.path.join(base_path, 'toolchain.cmake') if os.path.isfile(os.path.join(base_path, 'toolchain.cmake')) else None
config_cmd = "-C%s" % os.path.join(base_path, 'config.cmake') if os.path.isfile(os.path.join(base_path, 'config.cmake')) else None
# Help find catkin cmake and python
unused_catkin_toplevel, catkin_python_path, unused_catkin_cmake_path = common.find_catkin(base_path)
pkg_config_paths = common.generate_pkg_config_path(base_path)
env = os.environ.copy()
# PYTHONPATH
# Don't add to the environment variable - this mucks up catkin's catkin_generated/setup_cached.py
# environment later (how? I can't remember - something to do with the default underlay).
# Maybe we can do away with this now catkin can look up install spaces?
#try:
# env['PYTHONPATH'] = env['PYTHONPATH'] + os.pathsep + catkin_python_path
#except KeyError:
# env['PYTHONPATH'] = catkin_python_path
sys.path.append(catkin_python_path)
# PKG_CONFIG_PATH
for path in pkg_config_paths:
try:
env['PKG_CONFIG_PATH'] = env['PKG_CONFIG_PATH'] + os.pathsep + path
except KeyError:
env['PKG_CONFIG_PATH'] = path
if args.doc_only:
console.pretty_println('Generates documents only', console.bold_white)
make_doc(source_path, doc_path, packages)
return
# consider calling cmake
makefile = os.path.join(build_path, 'Makefile')
if not os.path.exists(makefile) or args.force_cmake or force_cmake:
cmd = ['cmake', source_path]
if toolchain_cmd:
cmd.append(toolchain_cmd)
if config_cmd:
cmd.append(config_cmd)
cmd += cmake_args
#new_env = common.generate_underlays_environment(base_path)
try:
builder.print_command_banner(cmd, build_path, color=not args.no_color)
if args.no_color:
builder.run_command(cmd, build_path, env=env)
else:
builder.run_command_colorized(cmd, build_path, env=env)
except subprocess.CalledProcessError:
return fmt('@{rf}Invoking @{boldon}"cmake"@{boldoff} failed')
else:
cmd = ['make', 'cmake_check_build_system']
#new_env = common.generate_environment(base_path) # underlays + current workspace
try:
builder.print_command_banner(cmd, build_path, color=not args.no_color)
if args.no_color:
builder.run_command(cmd, build_path, env=env)
else:
builder.run_command_colorized(cmd, build_path, env=env)
except subprocess.CalledProcessError:
return fmt('@{rf}Invoking @{boldon}"make cmake_check_build_system"@{boldoff} failed')
insert_yujin_make_signature(base_path, devel_path)
# invoke make
if not args.cmake_only:
if args.target:
cmd = ['make', args.target]
elif args.install:
cmd = ['make', 'install']
elif args.tests:
cmd = ['make', 'tests']
elif args.run_tests:
cmd = ['make', 'test']
else:
cmd = ['make']
jobs = args.jobs
if args.jobs == '':
cmd.append('-j')
else:
jobs = args.jobs
if not jobs:
if 'ROS_PARALLEL_JOBS' in os.environ:
ros_parallel_jobs = os.environ['ROS_PARALLEL_JOBS']
cmd += [arg for arg in ros_parallel_jobs.split(' ') if arg]
else:
jobs = multiprocessing.cpu_count()
if jobs:
cmd.append('-j%d' % jobs)
cmd.append('-l%d' % jobs)
cmd += args.make_args
try:
make_path = build_path
if args.pkg:
make_path = os.path.join(make_path, packages_by_name[args.pkg])
builder.print_command_banner(cmd, make_path, color=not args.no_color)
builder.run_command(cmd, make_path, env=env)
except subprocess.CalledProcessError:
return fmt('@{rf}Invoking @{boldon}"make"@{boldoff} failed')
if args.doc:
make_doc(source_path, doc_path, packages)
def make_isolated_main():
args = _parse_args()
if args.no_color:
terminal_color.disable_ANSI_colors()
(base_path, build_path, devel_path, source_path) = common.get_default_paths(isolated=args.suffixes)
unused_catkin_toplevel, catkin_python_path, unused_catkin_cmake_path = common.find_catkin(base_path)
install_path = config_cache.get_install_prefix_from_config_cmake(isolated=args.suffixes)
sys.path.insert(0, catkin_python_path)
from catkin.builder import build_workspace_isolated
# Clear out previous temporaries if requested
if args.pre_clean:
console.pretty_print("Pre-cleaning before building.", console.cyan)
shutil.rmtree(devel_path, ignore_errors=True)
shutil.rmtree(build_path, ignore_errors=True)
shutil.rmtree(install_path, ignore_errors=True)
if not os.path.exists(build_path):
os.mkdir(build_path)
# Validate package argument
packages = find_packages(source_path, exclude_subspaces=True)
packages_by_name = {p.name: path for path, p in packages.iteritems()}
if args.packages:
for package in args.packages:
if package not in packages_by_name:
raise RuntimeError('Package %s not found in the workspace' % package)
make.validate_build_space(base_path) # raises a RuntimeError if there is a problem
make.check_and_update_source_repo_paths(source_path)
build_workspace_isolated(
workspace=base_path,
sourcespace=source_path,
buildspace=build_path,
develspace=devel_path,
installspace=install_path,
merge=args.merge,
install=args.install,
force_cmake=args.force_cmake,
build_packages=args.packages,
quiet=args.quiet,
cmake_args=args.cmake_args,
make_args=args.make_args
)
# this is a really fugly way of building a specific target after all else has been built
# (and rebuilt), usually this is enough as the check of already built packages is quick
if args.target:
env = os.environ.copy()
cmd = ['make', args.target]
make_paths = []
if args.packages:
for package in args.packages:
# It's an isolated build, so packages are listed under the build path as a flat list (not fully traceable dirs like in catkin_make)
# make_path = os.path.join(make_path, packages_by_name[package])
make_paths.append(os.path.join(build_path, package))
else:
for (unused_path, package) in topological_order_packages(packages):
# 3rd party builds put make targets under an install directory
# catkin package builds put make targets under the package name
# why? no bloody idea, but just detect what is what here
third_party_build_path = os.path.join(build_path, package.name, 'install')
catkin_build_path = os.path.join(build_path, package.name)
package_build_path = third_party_build_path if os.path.exists(third_party_build_path) else catkin_build_path
make_paths.append(package_build_path)
for make_path in make_paths:
builder.print_command_banner(cmd, make_path, color=not args.no_color)
if args.no_color:
builder.run_command(cmd, make_path, env=env)
else:
builder.run_command_colorized(cmd, make_path, env=env)